Since you’ll be traveling with extra passengers, you won’t have the full tow rating available. 16’ Scamps are available with beds for up to 5 (no bath) or 4 (wet bath). They’re about the mostest (beds) for the leastest (weight and cost) you can find in molded fiberglass. They typically run 2400-2800# loaded, depending on layout, equipment, and loading.
If you don’t require a bath, a Scamp
13 (c.1500-1800#) also fits the bill. We are 2+2 and pull a Scamp
13 with our 3500# rated Honda Pilot.
Towing does add an extra dimension to RV travel, but since you’re already experienced driving a large, tall vehicle, you’re ahead of the curve. You will be learning about trailer brakes
, hitch weight
, and load balancing for stable towing. And of course backing up!